Manual 1355 Model 5x High Current Output

Manual 1355 Model 5x High Current Output
Manual
Model 1355
5x High Current Output
CANopen Slave Soft Starter Module
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2015 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc.
© The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc.
53220, Rev A 7/5/15
CONTENTS
CONTENTS
1. OVERVIEW ............................................................................. 1
2. INSTALLATION AND WIRING ........................................... 3
Mounting the Module......................................................... 3
High Power Connections..................................................... 5
Low Power Connections...................................................... 5
Wiring: Basic Configuration, 1355-X001........................... 8
Wiring: Basic Configuration, 1355-X101........................... 9
3. PROGRAMMER MENUS .................................................... 10
Program Menus.................................................................. 10
Monitor Menus ................................................................. 17
4. CANopen COMMUNICATIONS ......................................... 21
Baud Rates ........................................................................ 21
Node Addresses ................................................................. 21
Heartbeat .......................................................................... 21
Emergency Messages ......................................................... 21
PDOs ............................................................................. 23
SDOs............................................................................ 24
Communication Profile Objects ........................................ 24
Parameter Profile Objects .................................................. 25
5. DIAGNOSTICS & TROUBLESHOOTING ....................... 35
Troubleshooting Chart....................................................... 36
b
c
appendix a
appendix
appendix
Vehicle Design Considerations
Programming Devices
Specifications, 1355 Module
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
iii
FIGURES / TABLES
fig. 1:
fig. 2: fig. 3a: fig. 3b: Fig. 4:
.
FIGURES
Curtis 1355 module ................................................................. 1
Mounting dimensions, Curtis 1355 ......................................... 3
Basic wiring diagram, 3x full bridge actuators .......................... 8
Basic wiring diagram, 6x digital inputs .................................... 9
Driver acceleration.................................................................. 14
TABLES
table 1: Connector pinout ................................................................... 6
table 2: Program menus ..................................................................... 10
table 3: Monitor menus ..................................................................... 17
table 4: Communication profile object dictionary ............................. 24
table 5: Parameter profile object dictionary ........................................ 25
table 6: Troubleshooting chart ........................................................... 36
table C-1: Specifications, Curtis 1355 .................................................. C-1
iv
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
1 — OVERVIEW
1 OVERVIEW
The Curtis Model 1355 is a 5x high-current half bridge output module for soft
start of electrical motors. The 1355 is available with either three full actuator
outputs or six digital inputs.
The module is designed to give it the flexibility to be used in a variety of
sweepers/scrubbers. Typically M1–M3 are used to drive the brushed permanent
magnet motors that power the scrubbing brush pads, and M4–M5 are used to
drive the series-wound DC vacuum motors used to recover the used cleaning
solution from the floor.
The housing is designed to meet the difficult environment seen in material handling and outdoor equipment. This water-tight design can survive high
shock, vibration, and dust.
Fig. 1 Curtis 1355
CANopen slave soft starter
module.
Features include:
3 Programmable DC nominal supply: 24V, 36V, or 48V
3 Five high-current half bridge drivers for motor loads (M1–M5)
3 3A driver output for a main (line) contactor, with overload protection
3 KSI input
3 CAN bus port
3 Threaded busbars for B+, B-, and the five motor loads
3 14-pin AMPSEAL connector for low-power loads (actuator loads, CAN bus,
KSI, I/O, etc.)
More Features +
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
1
1 — OVERVIEW
3 Protection from short circuits, under/over voltage, and reverse polarity
3 Capacitor bank pre-charge circuit prevents arcing
3 Field upgradeable firmware
3 IP65 sealing
3 Externally viewable dual power/status LED clearly flash the fault code
3 Serial communication port for Curtis 1311/1313/1314 programmers
3 1355-X001: three full bridge drivers for linear actuators, typically used to lift/
lower the brush deck and the squeegee and control the detergent delivery pump
3 1355-X101: six digital inputs; Digital Input 6 can be used as an interlock.
SOFT START MODE
Soft Start mode provides a linear acceleration ramp from 0V to full voltage
(pure DC, no PWM), and linear deceleration from full voltage to 0V. In this
way, it can reduce the starting current of the motor, and also can effectively
mitigate the surging problem of the inertia system when stopping.
PWM MODE
If Soft Start mode is not desired, M1–M5 can drive motors at PWM% within
the 1-hour rating.
PARALLEL MODE (M4/M5) and H-BRIDGE MODE (M1/M2)
The M4 and M5 outputs can be used in parallel to drive a single large motor
load for vacuum. The 1355 uses the parameters of M4 to control the motor.
The M1 and M2 outputs can provide bi-directional motor control by
connecting one motor load in an H-bridge configuration. The 1355 uses the
parameters of M1 to control the motor.
Both Parallel mode and H-Bridge mode can run in either Soft Start mode
or PWM mode.
Familiarity with your Curtis 1355 module will help you install and operate it
properly. We encourage you to read this manual carefully. If you have questions,
please contact the Curtis office nearest you.
2
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
2 — INSTALLATION & WIRING
2 INSTALLATION AND WIRING
MOUNTING THE MODULE
+
CAUTION
Fig. 2 Mounting
dimensions, Curtis 1355
soft starter module.
The outline and mounting hole dimensions for the 1355 module are shown in
Figure 2. The module should be securely mounted to the vehicle using four
M5 screws.
Care should be taken to prevent contaminating the connector area
before the mating14-pin connector is installed. Once the system is plugged
together, the 1355 meets the IP65 requirements for environmental protection
against dust and water. Nevertheless, in order to prevent external corrosion
and leakage paths from developing, the mounting location should be carefully
chosen to keep the module as clean and dry as possible.
M6 x 1.0, 10 min, 2 plcs
M5 x 0.8, 10 min, 5 plcs
M5
M1
M2
M3
108
120
B+
M4
Ø 6.00, 4 plcs
153
72
165
8.0
Dimensions in millimeters
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
3
2 — INSTALLATION & WIRING
If the outputs will be used at or near their maximum ratings, it is recommended that the module be mounted to a good heatsinking surface, such
as an aluminum plate.
You will need to take steps during the design and development of your
end product to ensure that its EMC performance complies with applicable
regulations; suggestions are presented in Appendix A.
The 1355 contains ESD-sensitive components. Use appropriate precautions in connecting, disconnecting, and handling the module. See installation
suggestions in Appendix A for protecting the module from ESD damage.
+
CAUTION
Working on electrical systems is potentially dangerous. You should
protect yourself against uncontrolled operation, high current arcs, and
outgassing from lead acid batteries:
UNCONTROLLED OPERATION — Some conditions could cause the motor to
run out of control. Disconnect the motor or jack up the vehicle and get
the drive wheels off the ground before attempting any work on the motor
control circuitry.
HIGH CURRENT ARCS — Batteries can supply very high power, and arcing can
occur if they are short circuited. Always open the battery circuit before
working on the motor control circuit. Wear safety glasses, and use properly
insulated tools to prevent shorts.
— Charging or discharging generates hydrogen gas,
which can build up in and around the batteries. Follow the battery manufacturer’s safety recommendations. Wear safety glasses.
LEAD ACID BATTERIES
4
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
2 — INSTALLATION & WIRING: Low Current Connections
HIGH POWER CONNECTIONS
The B+ and B- connections are via female-threaded M6 busbars; the suggested
torque in 5.5 N∙m. The five motor outputs (M1, M2, M3, M4, M5) are connected
via female-threaded M5 busbars; the suggested tightening torque is 3.5 N∙m.
The B+ and B- cables should be run close to each other between the
module and the battery. For best noise immunity the cables should not run
across the center section of the module.
M1 and M2 can be used together to provide bi-directional motor control
by connecting one motor load across these two outputs, making a full bridge
configuration. The motor is controlled by the M1 programable parameters.
M4 and M5 can be used together as parallel outputs to drive a single large
motor load for vacuum operation.
M1–M5 are protected from both over and under temperature; warnings
are issued when the temperature reaches the cutback threshold and output is
disabled when the temperature reaches the cutoff threshold.
LOW POWER CONNECTIONS
All connections are made through the 14-pin AMPSEAL connector. The low
power connector will mate to a 14-pin AMPSEAL wire header.
1
5
6
10
+
CAUTION
9
14
The module’s plastic cover features a molded-in receptacle that mates with
a standard 14-pin AMPSEAL housing and includes keying features to prevent
incorrect insertion.The connector will provide a proper seal and latch for the
off-the-shelf AMPSEAL wire header/plug. Note that the 1355’s pins are not
sealed until the mating connector is fully engaged and locked.
The 14 individual pins are characterized in Table 1, for the three actuator
model (1355-X001) and the six digital input model 1355-X101).
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
5
2 — INSTALLATION & WIRING: Low Current Connections
Table 1 Connector Pinout
PIN
1355-X001
1355-X101
1
Actuator 2B
Digital Input 1
2
Main Contactor Driver
Main Contactor Driver
3
CAN L
CAN L
4
CAN H
CAN H
5
+15V
6
7 Serial Rx Serial Rx
8 Serial Tx Serial Tx
9
Actuator 2A
+15V
KSI
Digital Input 2
KSI
10
Actuator 3B
Digital Input 3
11
Actuator 3A
Digital Input 4
12
B-
B-
13
Actuator 1B
Digital Input 5
14
Actuator 1A
Digital Input 6 (Interlock)
The pins shared by both models are described below. The remaining pins (1,
6, 10, 11, 13, 14) are model-specific and are described below the individual
wiring diagrams.
Main Contactor Driver (pin 2)
This is a low side driver to switch the main contactor coil. The output is switched
On after KSI is closed and all power on seft-tests have been completed. It will
open in the event of some severe faults in the 1355 module.
CAN L/H (pins 3, 4)
The 1355 is configured to function as a CAN slave only. A CAN master can
read all inputs and outputs, monitor values and error codes, control all outputs,
and set parameter values. There is no end-of-line termination resistor built into
the module; if the 1355 is placed at the end of the communication lines, an
external 120 Ω ½ W resistor must be added across the lines.
The 1355 will be controlled by two single 8 byte CAN PDOs and will
return two single 8 byte PDOs over the CANopen protocol. SDOs can be sent
to program various settings and features within the module.
6
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
2 — INSTALLATION & WIRING: Low Current Connections
The following CAN status messages are transmitted: actual current,
overload warning, overload trip, over current, motor open fault, motor short
fault, etc.
The following CAN commands are received: On, Off, % PWM, current
limit value, overload time value, etc.
CAN wiring should be kept away from the high current cables and cross
it at right angles when necessary.
+15V and GND (pins 5, 12)
The +15V power supply for the programmer provides short circuit protection;
the maximum output is 60 mA. The ground at pin 12 completes the programmer circuit.
Serial Rx/Tx (pins 7, 8)
These provide the serial receive and transmit data channels for the programmer.
KSI (pin 9)
The KSI input turns the 1355 on and off via the vehicle’s keyswitch. The internal
DC/DC has 0.51 A current limit protection, and a TVS clamps the KSI input
in the event of over voltage.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
7
2 — INSTALLATION & WIRING: Standard Wiring Diagram, 1355-X001
WIRING: BASIC CONFIGURATION
Basic wiring diagrams are shown in Figure 3a (for the actuator models) and in
Figure 3b (for the digital input models).
MAIN COIL
KEY SWITCH
FROM MAIN
CONTROL BOARD
J2-2
J2-9
J2-14
SQEEGEE
ACTUATOR
M
J2-13
J2-6
DECK
ACTUATOR
M
J2-1
J2-11
DETERGENT
PUMP
CAN PORT
SERIAL PORT
(4-pin Molex)
M
J2-10
1
J2-7
2
J2-12
M
LEFT BRUSH
M2
M7+
M7-
M
POWER
FUSE
SIDE SWEEP
M8+
M3
M8-
CAN L
J2-8
M1
M6-
J2-3
3
RIGHT BRUSH
M6+
CAN H
J2-5
B+
KSI
J2-4
4
MAIN
CONTACTOR
MAIN DRIVER
M
VACUUM 1
M4
M
VACUUM 2
+15V
M5
Tx
M
BATTERY
Rx
GND
B-
1355-X001
Fig. 3a Basic wiring diagram, Curtis 1355-X001 module.
1355-X001 Actuator Outputs (pins 1, 6, 10, 11, 13, 14)
Three full bridge linear actuator drivers can be used to lift/lower the brush deck
and the squeegee, and control the detergent delivery pump with control logic
from the CAN master.
100% PWM (pure DC) is not required; 0–95% PWM modulation is
acceptable.
Stall Current Limit is programmable from 2.0 to 10.0 A. The actuator will
be stopped if a large increase of output current is detected. It is not possible to
operate the motor in the stalled direction until the actuator is first operated in
the opposite direction.
The Stall Current Debounce Time is programmable from 0.0 to 5.0 seconds. This allows for high start-up currents and momentary overloads.
Accel/Decel is programmable from 0.1 to 2.0 seconds.
8
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
2 — INSTALLATION & WIRING: Standard Wiring Diagram, 1355-X101
MAIN COIL
KEY SWITCH
FROM MAIN
CONTROL BOARD
J2-2
J2-9
J2-6
M1
DIGITAL INPUT 2
SWITCH 2
J2-10
SWITCH 3
J2-11
SWITCH 4
J2-13
SWITCH 5
J2-14
SWITCH 6
(4-pin Molex)
RIGHT BRUSH
DIGITAL INPUT 1
SWITCH 1
SERIAL PORT
B+
KSI
J2-1
CAN PORT
MAIN
CONTACTOR
MAIN DRIVER
DIGITAL INPUT 3
CAN L
J2-8
1
J2-7
2
J2-12
M3
DIGITAL INPUT 6
(INTERLOCK)
CAN H
3
M2
M
POWER
FUSE
SIDE SWEEP
DIGITAL INPUT 5
J2-3
J2-5
LEFT BRUSH
DIGITAL INPUT 4
J2-4
4
M
M
VACUUM 1
M4
M
VACUUM 2
+15V
M5
Tx
M
BATTERY
Rx
GND
B-
1355-X101
Fig. 3b Basic wiring diagram, Curtis 1355-X101 module.
1355-X101 Digital Inputs (pins 1, 6, 10, 11, 13, 14)
The six digital inputs can be programmed as remote inputs from CAN or as
command switches via a programmer or over the CAN bus (SDO).
Input voltage range:
1355-4101 0–60 V
1355-5101 0–80 V.
Sink current:
1355-4101 3 mA at 60 V
1355-5101 3 mA at 80 V.
High level threshold: >10 V.
Pin 14 can be used as a digital input or as an interlock. When it is used as an
interlock, this pin provides a second enable input such as a seat switch, a pedal
switch, or a charger inhibit.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
9
3 — PROGRAMMER MENUS
3 PROGRAMMER MENUS
The Curtis handheld 1311/1313 programmer or 1314 PC programming station
can be used to adjust the programmable parameters, to read various monitored
values, and to access fault information. For information on the programmers,
see Appendix B.
Program Menus
The programmable parameters are arranged in menus, as shown in Table 2.
Table 2 Program Menus: 1311/1313 /1314 Programmer
CONFIGURATION ........................... p. 11
ACTUATOR 1 – ACTUATOR 3 a ......... p. 14
—Overvoltage Warning Range
—Nominal Voltage
—Undervoltage Warning Range
MAIN CONTACTOR ......................... p. 11
—Contactor Control
—Pull In Voltage
—Holding Voltage
—Main Contactor Current Limit
INTERLOCK b ................................. p. 12
—Interlock Type b
—Startup Lockout Type b
—Sequence Delay b
M1–M5 ......................................... p. 13
—Enable
—Current Limit
—Motor Open Current
—Regen Current Limit
—Accel
—Decel
—PWM Demand
—Controlled By b
—Inhibited By b
a
b
10
—Overload Time
—Output Off Delay b
1355-X001 only
1355-X101 only
a
—Enable —Stall Current Limit a
—Stall Current Debounce a
a
—Accel a
—Decel MODE ........................................... p. 15
—Operation Mode b
—M2 PWM Mode
—M1 PWM Mode
—M3 PWM Mode
—M4 PWM Mode
—M5 PWM Mode
—M1 M2 H Bridge Mode
—M4 M5 Parallel Mode
—M1 M2 H Bridge Direction Input b
CAN INTERFACE ............................ p. 16
—Node ID
—Heartbeat Rate
—Baud Rate
—PDO Timeout
MISC b .......................................... p. 16
—Digital Input 1 Normally Closed b
—Digital Input 3 Normally Closed b
—Digital Input 2 Normally Closed b
—Digital Input 4 Normally Closed b
—Digital Input 5 Normally Closed b
—Digital Input 6 Normally Closed b
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
3 — PROGRAMMER: PROGRAM MENUS
CONFIGURATION MENU
PARAMETER
Nominal Voltage
ALLOWABLE
RANGE
DESCRIPTION
24.0 – 36.0 V
Sets the nominal voltage.
36.0 – 48.0 V 24.0 – 36.0 V for the 1355-4X01.
36.0 – 48.0 V for the 1355-5X01.
Overvoltage
2.0 – 14.0 V
Warning Range
Sets the allowed voltage above the nominal
voltage. When the capacitor bank voltage
exceeds (Nominal Voltage + Overvoltage
Warning Range), an Overvoltage Warning
message is issued on the CAN bus and
programmer.
Undervoltage
2.0 – 14.0 V
Warning Range
Sets the allowed voltage below the nominal
voltage. When the capacitor bank voltage drops
below (Nominal Voltage - Undervoltage Warning
Range), an Undervoltage Warning message is
issued on the CAN bus and programmer.
MAIN CONTACTOR MENU
PARAMETER
Contactor Control
Pull In Voltage
ALLOWABLE
RANGE
DESCRIPTION
On / Off
When programmed On, the 1355 controls
the main contactor.
When programmed Off, the main contactor
is controlled by an external device.
0 – 100 %
This parameter allows a high initial voltage
when the main contactor first turns on, thus
ensuring contactor closure. After 1 second,
this peak voltage drops to the contactor
holding voltage.
Holding Voltage
0 – 100 %
This parameter allows a reduced average
voltage to be applied to the contactor coil
once it has closed. This parameter must be
set high enough to hold the contactor closed
under all shock and vibration conditions the
vehicle will be subjected to.
Main Contactor
150 – 250 A
Current Limit
This parameter limits the max current on the
contactor. If the current is higher than the
programmed limit, the 1355 will limit the
current of all the outputs so as to bring the
main contactor current below its allowed
limit. Meanwhile, the 1355 will report the
fault on the CAN bus and programmer.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
11
3 — PROGRAMMER: PROGRAM MENUS
INTERLOCK MENU (1355-X101 only)
PARAMETER
ALLOWABLE
RANGE
DESCRIPTION
Interlock Type
0 – 1
Selects the interlock type.
0 = Interlock turns on with Digital Input 6.
1 = Interlock turns on with KSI.
Startup Lockout Type
0 – 2
4 Selects the startup lockout type.
0 = No startup lockout.
1 = KSI-type startup lockout.
To start the motors, KSI must be turned
on before a startup request is received.
Controller operation will be disabled
immediately if the startup request is
active before KSI is enabled, and a
sequence fault will be declared. If the
startup request is received before
interlock switch On but after KSI On,
the motor will accelerate to the
requested speed as soon as interlock
switch is closed.
2 = Interlock-type startup lockout.
To start the motors, the interlock must
be turned on before receiving a startup
request. Controller operation will be
disabled immediately if the startup
request is active before the interlock
switch is closed, and a sequence fault
will be declared.
Normal operation is restored after a startup lockout
by reapplying the startup request in the correct
sequence.
Sequence Delay
12
0.0 – 5.0 s
Sets the PWM output shutoff delay after the
interlock switch is turned off.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
3 — PROGRAMMER: PROGRAM MENUS
M1 — M5 MENU *
PARAMETER
Enable
Current Limit
ALLOWABLE
RANGE
DESCRIPTION
On / Off
This parameter enables/disables the driver
output and fault check.
Note: Some severe faults, such as motor
short and current sensor fault, will still be
checked even when this parameter is disabled.
10 – 100 A
Sets the maximum current for the driver.
(24–36V models)
10 – 70 A
(36–48V models)
Regen Current 10 – 100 A
(24–36V models)
Limit
10 – 70 A
(36–48V models)
Sets the maximum current for the driver when
operating in regen mode.
Motor Open 0.0 – 10.0 A
Current
Sets the minimum output current for this driver,
below which a motor open fault is declared
when the motor is running.
Accel
0.1 – 2.0 s
Sets the rate (in seconds) at which the driver
output accelerates from zero to 100% PWM;
see Figure 4.
Decel
0.1 – 2.0 s
Sets the rate (in seconds) at which the driver
output decelerates from 100% PWM to zero.
PWM Demand
0 – 100 %
Sets the requested PWM when operating in
PWM mode.
Overload Time
1 – 20 s
During current limiting, the Overload Trip
timer Increases. If the timer exceeds the
Overload Time, output will be shut down.
Controlled By
0 – 6
This parameter defines which digital input will
turn the driver.
0 = driver not controlled by any digital input.
1– 6 = driver controlled by digital input 1– 6.
Inhibited By
0 – 6
This parameter defines which digital input will
inhibit the driver.
0 = driver not inhibited by any digital input.
1– 6 = driver inhibited by digital input 1– 6.
0.0 – 30.0 s
The PWM will be shut off after the programmed
Output Off Delay time expires following a stop
command.
(1355-X101 only)
(1355-X101 only)
Output Off Delay
* This menu is repeated for each of the five motor drivers.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
13
3 — PROGRAMMER: PROGRAM MENUS
ACTUATOR 1 — ACTUATOR 3 MENU (1355-X001 only) *
PARAMETER
ALLOWABLE
RANGE
DESCRIPTION
Enable
On / Off
This parameter enables/disables the actuator
output and fault check.
Note: Some severe faults, such as motor
short and current sensor fault, will still be
checked even when this parameter is disabled.
Stall Current Limit
2 – 10 A
Sets the maximum stall current for this actuator.
Stall Current Debounce
0.0 – 5.0 s
This parameter allows a high startup current
and momentary overload. If the Stall timer
exceeds the programmed debounce time,
a stall fault is declared. It is not possible to
operate the motor in the stalled direction until
the actuator is first operated in the opposite
direction.
Accel
0.1 – 2.0 s
Sets the rate (in seconds) at which the
actuator output accelerates from zero to
100% PWM; see Figure 4.
Decel
0.1 – 2.0 s
Sets the rate (in seconds) at which the
actuator decelerates.
* This menu is repeated for each of the three actuators.
Fig. 4 Driver acceleration.
PWM DEMAND
0%
TIME
ACCEL
PWM accelerates from 0% to the programmed PWM Demand parameter at the rate
set by the Mx Accel or ActuatorX Accel parameters, and keeps that PWM setting. The
Accel parameters can be adjusted (over the CAN bus or with a Curtis programer) from
0.1 to 2.0 seconds.
Note: In Soft Start mode the PWM Demand is not programmed and is always 100%.
14
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
3 — PROGRAMMER: PROGRAM MENUS
MODE MENU
PARAMETER
ALLOWABLE
RANGE
DESCRIPTION
Operation Mode
(1355-X101 only)
0 – 1
Defines whether the 1355 will be independent
of the CAN system or be a CAN slave.
0 = Independent mode.
1 = CAN Slave mode.
M1 PWM Mode
On / Off
Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M2 PWM Mode
On / Off
Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M3 PWM Mode
On / Off
Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M4 PWM Mode
On / Off
Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M5 PWM Mode
On / Off
Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M1 M2 H Bridge Mode
On / Off
Determines whether H Bridge mode is active.
On = H Bridge mode active.
Off = H Bridge mode inactive.
M4 M5 Parallel Mode
On / Off
Determines whether Parallel mode is active.
On = Parallel mode active.
Off = Parallel mode inactive.
4 M1 M2 H Bridge
1 – 6
Selects the digital input that will be the direction
Direction Input
command for the M1 M2 H bridge.
(1355-X101 only)
When the selected input is On, the motor
will run forward.
When the selected input is Off, the motor
will run in reverse.
This parameter is ignored when the 1355 is
working in CAN Slave mode.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
15
3 — PROGRAMMER: PROGRAM MENUS
CAN INTERFACE MENU
PARAMETER
Node ID
Baud Rate
ALLOWABLE
RANGE
DESCRIPTION
1 – 127
Sets the Node ID of the 1355 CANopen slave system.
Must cycle KSI or send an NMT RESET 1355
or an NMT RESET CAN for the new ID to take
full effect.
0 – 2
Sets the CAN bus baud rate.
0 = 125 kbps.
1 = 250 kbps.
2 = 500 kbps.
Must cycle KSI or send an NMT RESET 1355 or
an NMT RESET CAN for the new rate to take effect.
Heartbeat Rate 16 – 1000 ms
PDO Timeout
0 – 1000 ms
Sets the rate at which heartbeat messages are sent
from the 1355.
Sets the PDO timeout period.
After the 1355 has sent a PDO MISO, it will
declare a PDO Timeout Fault if the master controller
has not sent a reply PDO-MOSI message within the
programmed time. Either PDO1 MOSI or PDO2 MOSI
will reset the timer.
Setting this PDO Timeout = 0 will disable this fault
check.
MISC MENU (1355-X101 only)
PARAMETER
16
ALLOWABLE
RANGE
DESCRIPTION
Digital Input 1 Normally Closed
On / Off
On = Normally closed.
Off = Normally open.
Digital Input 2 Normally Closed
On / Off
On = Normally closed.
Off = Normally open.
Digital Input 3 Normally Closed
On / Off
On = Normally closed.
Off = Normally open.
Digital Input 4 Normally Closed
On / Off
On = Normally closed.
Off = Normally open.
Digital Input 5 Normally Closed
On / Off
On = Normally closed.
Off = Normally open.
Digital Input 6 Normally Closed
On / Off
On = Normally closed.
Off = Normally open.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
3 — PROGRAMMER: MONITOR MENUS
Monitor Menus
Through its monitor menus, the Curtis programmer provides access to real-time
data during vehicle operation. This information is helpful during diagnostics
and troubleshooting, and also while adjusting programmable parameters.
The monitored variables are arranged in menus, as shown in Table 3.
Table 3 Monitor Menus: 1311/1313 /1314 Programmer
CURRENT ................................... p. 18
CONTROLLER ............................. p. 20
—M1 Current
—M3 Current
—M5 Current
—Interlock b
—Digital Input 1 b
—Digital Input 2 b
—M2 Current
—M4 Current
—Actuator 1 Current a
—Actuator 2 Current a
—Actuator 3
Current a
VOLTAGE .................................... p. 18
—KSI Voltage
—Battery Voltage
—M1 Duty Cycle
—Actuator 1 Duty Cycle a
—Actuator 2 Duty Cycle a
—Actuator 3 Duty
—M5 Duty Cycle
—M4 Duty Cycle
—M2 Hourmeter
—M3 Duty Cycle
—M2 Duty Cycle
Cycle a
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
—Digital Input 3 b
—Digital Input 4 b
DUTY CYCLE .............................. p. 19
—Contactor State
—Digital Input 5 b
—Digital Input 6 b
—Internal Temperature
—M1 Hourmeter
—M3 Hourmeter
—M4 Hourmeter
—M5 Hourmeter
—Actuator 1 Hourmeter a
—Actuator 2 Hourmeter a
—Actuator 3 Hourmeter a
—CAN NMT State
a
b
1355-X001 only
1355-X101 only
17
3 — PROGRAMMER: MONITOR MENUS
CURRENT MONITOR MENU
PARAMETER
DISPLAY
RANGE
DESCRIPTION
M1 Current
-150.0 – 150.0 A
M1 motor current.
M2 Current
-150.0 – 150.0 A
M2 motor current.
M3 Current
-150.0 – 150.0 A
M3 motor current.
M4 Current
-150.0 – 150.0 A
M4 motor current.
M5 Current
-150.0 – 150.0 A
M5 motor current.
Actuator1 Current
(1355-X001 only)
Actuator2 Current
(1355-X001 only)
Actuator3 Current
(1355-X001 only)
0.0 – 15.0 A
Actuator1 motor current.
0.0 – 15.0 A
Actuator2 motor current.
0.0 – 15.0 A
Actuator3 motor current.
VOLTAGE MONITOR MENU
PARAMETER
18
DISPLAY
RANGE
DESCRIPTION
KSI Voltage
0.0 – 80.0 V
Voltage at KSI input, pin 9.
Battery Voltage
0.0 – 80.0 V
Voltage at the B+ busbar.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
3 — PROGRAMMER: MONITOR MENUS
DUTY CYCLE MONITOR MENU
PARAMETER
DISPLAY
RANGE
DESCRIPTION
M1 Duty Cycle
0 – 100 %
M1 output duty cycle.
M2 Duty Cycle
0 – 100 %
M2 output duty cycle.
M3 Duty Cycle
0 – 100 %
M3 output duty cycle.
M4 Duty Cycle
0 – 100 %
M4 output duty cycle.
M5 Duty Cycle
0 – 100 %
M5 output duty cycle.
Actuator1 Duty Cycle
(1355-X001 only)
Actuator2 Duty Cycle
(1355-X001 only)
Actuator3 Duty Cycle
(1355-X001 only)
-100 – 100 %
Actuator1 output duty cycle.
-100 – 100 %
Actuator2 output duty cycle.
-100 – 100 %
Actuator3 output duty cycle.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
19
3 — PROGRAMMER: MONITOR MENUS
CONTROLLER MONITOR MENU
PARAMETER
DISPLAY
RANGE
DESCRIPTION
Internal Temperature
-40 – 125°C
The internal temperature of the
controller.
Contactor State
On / Off
Displays the state of the main
contactor.
On = main contactor closed.
Off = main contactor open.
Interlock
On / Off
Displays the state of the interlock.
On / Off
State of Digital Input 1.
On / Off
State of Digital Input 6.
(1355-X101 only)
Digital Input 1
(1355-X101 only)
. . .
Digital Input 6
(1355-X101 only)
M1 Hourmeter
0 – 65535 hr
M3 output duty cycle.
M2 Hourmeter
0 – 65535 hr
M3 Hourmeter
0 – 65535 hr
M4 Hourmeter
0 – 65535 hr
M5 Hourmeter
0 – 65535 hr
M3 output duty cycle.
Each hourmeter
M3 outputaccumulates
duty cycle.
“On” time
whilecycle.
its
M3 output duty
corresponding motor
is running.
M3 output duty cycle.
Actuator1 Hourmeter
0 – 65535 hr
Actuator1 output duty cycle.
0 – 65535 hr
Actuator2 output duty cycle.
0 – 65535 hr
Actuator3 output duty cycle.
(1355-X001 only)
Actuator2 Hourmeter
(1355-X001 only)
Actuator3 Hourmeter
(1355-X001 only)
CAN NMT State
0 – 127
Displays the NMT state of the 1355.
0 = Initialization.
4 = Stopped.
5 = Operational.
127 = Pre-operational.
20
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
4 — CANopen COMMUNICATIONS
4 CANopen COMMUNICATIONS
The 1355 follows the industry trend (which Curtis proposed and supports) toward
CANopen communications. The 1355 runs the minimum state machine, which
contains the standard mandatory objects and follows the recommended SDO
addressing scheme. The CANopen protocol application layer is fully compatible
with Curtis AC motor controllers and system controllers, such as the 1310.
The 1355 processes two incoming PDOs (MOSI) and responds with two
outgoing PDOs (MISO). These PDOs use a dynamic mapping method. All
programmable parameters and monitor parameters are accessible by standard
SDO transfer.
The time between incoming PDOs is monitored and if excessive, a fault
will be reported. This allows the 1355 to know whether the system is under
master control. The 1355 also produces a cyclic Heartbeat message, which is
the CiA-preferred method for slave error control.
Emergency messages are sent sporadically whenever an error status flag
within the 1355 changes state. A minimum time between emergency messages
prevents the bus from being flooded.
BAUD RATES
The 1355 runs at one of three selectable baud rates: 125 kbps, 250 kbps, or
500 kbps. The baud rate can be changed by a Curtis programmer or by an SDO.
Changes in the baud rate require an NMT reset or key cycle.
NODE ADDRESSES
The node address is used to route messages to the 1355 and to denote messages
from the 1355. The node address is part of the COB ID and therefore also
plays a part in message priority and bus arbitration.
The 1355 can be assigned node address 1 through 127; node address 0
is reserved and unavailable.
Changes to the node address require an NMT reset or key cycle.
HEARTBEAT
The heartbeat message is a very low priority message, periodically sent by
each slave device on the bus. The heartbeat message has a single byte of data
and requires no response. Once the 1355 completes its initialization, the first
heartbeat will be issued and will continue until communication is stopped.
The heartbeat message has only one data byte. The top bit is reserved and
should be set to zero. The bottom 7 bits hold the current NMT device state.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
21
4 — CANopen COMMUNICATIONS
EMERGENCY MESSAGES
Emergency messages are high priority messages that announce the setting or
clearing of a fault in a slave device. These messages are originated by the slave,
which sends 8 bytes of data.
Internal to the device, each fault is mapped to one of the device’s supported
“Error Categories” from an extensive list of possible Error Categories defined
by CANopen. The fault reporting scheme ensures that one Emergency message
is sent in a CAN bus processing cycle during which one or more faults within
a given Error Category have been set or cleared. If a single fault has occurred
since the last processing cycle, then only one Emergency message is sent until
such time as either a new fault is detected or the previously reported fault has
cleared. If multiple faults are detected in a given cycle, the first fault is sent
immediately, and the remaining faults are queued. Queued faults are sent on
successive processing cycles until the queue is empty. The same scheme applies to
the concurrent clearing of faults and their corresponding Emergency messages.
The Emergency message will have device-specific fault bytes in addition
to the CANopen mandatory Error Register and Error Category. Note: Bit 0 of
the Error Register object must always be set to 1 in any error situation.
Data Bytes 1 and 2 – Error Category
These data bytes, which are not explicitly defined by CANopen, are used
to provide narrower categorization up to and including individual faults when
deemed appropriate. The error category value implies the values that will appear in bytes 4 through 8 of the error message (the “Manufacture Specific Error
Field”). These additional bytes are used to provide supporting information about
the particular fault or faults being reported in an Error Category by a given
Emergency message. The following error categories are defined:
0x0000
0x1000
0x1001
Fault Reset or No Fault
Generic Fault
Generic Fault
Please refer to the product specific CANopen implementation manual for lists
of errors occurring under each of these categories
Data Byte 3 – Error Register
CANopen requires that the object ID of the error_register be included in
each Emergency message. Currently, only bit 0 of the Error Register is defined.
This bit is set when any of the faults are set.
Data Bytes 4 through 8 – Manufacture Specific Error Field
The values that appear in these last 5 bytes depend on the Error Category
that is being reported. The last 5 bytes are defined as follows.
22
Error
Category
0x1000 Diagnostic1Diagnostic2Diagnostic3Diagnostic4Diagnostic5
0x1001 Diagnostic6Diagnostic7Diagnostic8Diagnostic9Diagnostic10
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
4 — CANopen COMMUNICATIONS: PDOs
PDOs
The PDO (Process Data Object) communication packets conserve bus bandwidth by bundling the values of a group of objects into a single message. The
1355 uses four PDOs, two from the system master and two responsive PDOs
sent from the 1355 itself. The content of these PDOs can be dynamic mapped
as Curtis AC motor controllers. PDO messages have a medium priority and
always carry 8 bytes of data. The Curtis CANopen implementation requires
that the incoming (Master Out Slave In) PDOs be immediately responded to
by an outgoing (Master In Slave Out) PDO. The 1355 will respond to the
PDO-MOSI with its PDO-MISO within 16 ms.
The 1355 requires that the PDO-MOSI be cyclic from the master. The
cycle time must be less than the programmed PDO Timeout. If the PDOMOSI is not received within the programmed time, the 1355 will flag a fault
and enter the Pre-Operational State. If the PDO Timeout parameter is set to 0,
the timeout fault is disabled and the 1355 will respond to any PDO incoming
at any rate without faulting.
These charts show the PDOs exchanged by the 1355 with default mapping.
PDO1-MOSI (received from the system master)
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Actuator 1 Actuator 1 Actuator 2 Actuator 2 Actuator 3 Actuator 3 M1 PWM M1 PWM
PWM Low PWM High PWM Low PWM High PWM Low PWM High Demand Demand
Low
High
PDO1-MISO (sent in response to the system master)
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Actuator 1 Actuator 1 Actuator 2 Actuator 2 Actuator 3 Actuator 3 M1 PWM M1 PWM
Current CurrentCurrentCurrent Current CurrentCurrentCurrent
Low HighLowHigh Low
High/switch
LowHigh
inputs status
PDO2-MOSI (received from the system master)
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
M2 PWM M2 PWM M3 PWM M3 PWM M4 PWM M4 PWM M5 PWM M5 PWM
Demand DemandDemandDemand Demand DemandDemandDemand
Low HighLowHigh Low HighLowHigh
PDO2-MISO (sent in response to the system master)
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
M2 Current M2 Current M3 Current M3 Current M4 Current M4 Current M5 Current M5 Current
Low HighLowHigh Low HighLowHigh
Note: Actuator objects are only for the 1355-X001.
The switch inputs status object is only for the 1355-X101.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
23
4 — CANopen COMMUNICATIONS: SDOs
SDOs
SDOs (Service Data Objects) are low priority packets that are designed for
sporadic and occasional use during normal runtime operation. There are two
types of SDOs: expedited and block transfer. The 1355 does not support large
file uploads or downloads (using the block transfer), so all the SDOs used by
the 1355 are expedited SDOs.
The SDOs in the 1355 are used to set up and parameterize the module.
They are also used to retrieve basic module information (such as version or
manufacture date) and monitor a few key internal variables (mostly for system
debug purposes). There are two types of SDO objects: Communication Profile
Objects and Parameter Profile Objects.
COMMUNICATION PROFILE OBJECTS
The communiction profile objects are shown below in Table 4.
Table 4 Communication Profile Object Dictionary
value
name
access index sub-index
bytes
description
Device Type
RO 0x1000 0x00
0x00000000
4 bytes
Error Register
RO 0x1001 0x00 0x00 or 0x01 = 0x01 if there is an error.
1 byte
= 0x00 if there are no errors.
Node ID RW 0x100B 0x00
0x01 – 0x7F
1 byte
Predefined type of CAN module.
Node ID of this 1355 module.
Emergency COB ID RO 0x1014 0x00
0x00000080 – 11-bit identifier of the emergency
0x000000FF message. Only the lowest 11 bits
4 bytes
are valid. All other bits must be 0.
Heartbeat Rate
RW 0x1017 0x00
16 ms – 1 s, Sets the cyclic repetition rate of the
in 4 ms steps heartbeat message.
2 bytes
Identity Object
RO 0x1018 0x00
0x01
0x06
Length of this structure = 6 subindexes.
1 byte
0x00434900
4 bytes
Curtis ID as defined by CiA.
0x02 0x054B0FA1 Product code:
4 bytes 2 upper bytes = 1355.
2 lower bytes = model, X001 or X101.
0x03
0x01020304
4 bytes
Master version in upper 2 bytes and
Slave version in lower 2 bytes.
The bytes are split upper byte for HW
and lower byte for SW.
Example: Master HW version 1 with
SW version 2, and Slave HW version 3
with SW version 4 = 01020304.
For 1355-X101, the lower 2 bytes are 0.
0x04
Serial number, up to 999,999.
0x05
0x06
24
0 – 999999
4 bytes
1–99366
4 bytes
A – Z
0x41 – 0x5A
Date code up to 99, Dec 31.
ASCII code of manufacturer’s location.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
PARAMETER PROFILE OBJECTS
The parameter profile objects are shown in Table 5.
Table 5 Parameter Profile Object Dictionary
range
name
access index sub-index
raw
mapping
description
PDO1 MOSI Parameters
RO
0x1400
0x00
0x01
1
n/a
No
Number of PDO1 MOSI parameters.
The first parameters of PDO1 MOSI.
PDO2 MOSI Parameters
RO
0x1401
0x00
0x01
1
n/a
No
Number of PDO2 MOSI parameters.
The first parameters of PDO2 MOSI.
PDO1 MOSI Mapping
RW 0x1600
0x00
n/a
No
Number of mapped application objects
in PDO1 MOSI.
PDO1 MOSI Mapping 1
0x01
PDO1 MOSI mapping for the 1st
application object to be mapped.
PDO1 MOSI Mapping 2
0x02
PDO1 MOSI mapping for the 2nd
application object to be mapped.
. . .
. . .
PDO1 MOSI mapping for 3rd–7th objects.
PDO1 MOSI Mapping 8
0x08
PDO1 MOSI mapping for the 8th
application object to be mapped.
PDO2 MOSI Mapping
RW 0x1601
0x00
n/a
No
Number of mapped application objects
in PDO2 MOSI.
PDO2 MOSI Mapping 1
0x01
n/a
No
PDO2 MOSI mapping for the 1st
application object to be mapped.
PDO2 MOSI Mapping 2
0x02
n/a
No
PDO2 MOSI mapping for the 2nd
application object to be mapped.
. . .
. . .
n/a
No
PDO2 MOSI mapping for 3rd–7th objects.
PDO2 MOSI Mapping 8
0x08
PDO2 MOSI mapping for the 8th
application object to be mapped.
PDO1 MISO Parameters
RO
0x1800
0x00
0x01
1
n/a
No
Number of PDO1 MISO parameters.
The first parameters of PDO1 MISO.
PDO2 MISO Parameters
RO
0x1801
0x00
0x01
1
n/a
No
Number of PDO2 MISO parameters.
The first parameters of PDO2 MISO.
PDO1 MISO Mapping
RW 0x1A00
0x00
n/a
No
Number of mapped application objects
in PDO1 MISO.
PDO1 MISO Mapping 1
0x01
n/a
No
PDO1 MISO mapping for the 1st
application object to be mapped.
PDO1 MISO Mapping 2
0x02
n/a
No
PDO1 MISO mapping for the 2nd
application object to be mapped.
. . .
. . .
n/a
No
PDO1 MISO Mapping 8
0x08
n/a
No
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
PDO1 MISO mapping for 3rd–7th objects.
PDO1 MISO mapping for the 8th
application object to be mapped.
25
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Profile Object Dictionary, cont’d
range
name
access index sub-index
raw
mapping
description
PDO2 MISO Mapping
RW 0x1A01
0x00
n/a
No
Number of mapped application objects
in PDO2 MISO.
PDO2 MISO Mapping 1
0x01
PDO2 MISO mapping for the 1st
application object to be mapped.
PDO2 MISO Mapping 2
0x02
PDO2 MISO mapping for the 2nd
application object to be mapped.
. . .
. . .
PDO2 MISO mapping for 3rd–7th objects.
PDO2 MISO Mapping 8
0x08
PDO2 MISO mapping for the 8th
application object to be mapped.
Nominal Voltage
RW 0x3048
0x00
24–36V for 1355-4X01,
36–48V for 1355-5X01.
1536 –2304, No
2304–3072
M1 Current Limit
RW 0x3101
0x00
100 –1000, No
or 100 –700
Defines the maximum current of M1:
10 –100A for 1355-4X01 and
10 –70A for 1355-5X01.
M2 Current Limit
RW 0x3102
0x00
100 –1000, No
or 100 –700
Defines the maximum current of M2:
ranges are as shown for M1.
M3 Current Limit
RW 0x3103
0x00
100 –1000, No
or 100 –700
Defines the maximum current of M3:
ranges are as shown for M1.
M4 Current Limit
RW 0x3104
0x00
100 –1000, No
or 100 –700
Defines the maximum current of M4:
ranges are as shown for M1.
M5 Current Limit
RW 0x3105
0x00
100 –1000, No
or 100 –700
Defines the maximum current of M5:
ranges are as shown for M1.
Motor Control
RW 0x3106
0x00
0 –255
Yes
bit0 controls M1 1=Run 0=Stop.
bit1 controls M2 1=Run 0=Stop.
bit2 controls M3 1=Run 0=Stop.
bit3 controls M4 1=Run 0=Stop.
bit4 controls M5 1=Run 0=Stop.
bit5 controls H Bridge direction:
1=Fwd 0=Rev. Note: in H-Bridge mode,
the 1355 uses the parameters of M1;
M2’s parameters are ignored.
Motor Mode
RW 0x3107
0x00
0 –255
Yes
bit0 M1 PWM mode 1=Active 0=Inactive.
bit1 M2 PWM mode 1=Active 0=Inactive.
bit2 M3 PWM mode 1=Active 0=Inactive.
bit3 M4 PWM mode 1=Active 0=Inactive.
bit4 M5 PWM mode 1=Active 0=Inactive.
M1 Overload Time
RW
0x3108
0x00
1000 –20000
No
M2 Overload Time
RW
0x3109
0x00
1000 –20000
No
M3 Overload Time
RW
0x310A
0x00
1000 –20000
No
M4 Overload Time
RW
0x310B
0x00
1000 –20000
No
Defines the max overload time: 1000 – 20000 ms.
The output is shut down once the
timer expires.
M5 Overload Time
RW
0x310C
0x00
1000 –20000
No
26
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Profile Object Dictionary, cont’d
range
name
access index sub-index
raw
mapping
description
M1 Accel
RW
0x310D
0x00
1– 20
No
0.1– 2.0 s
M2 Accel
RW
0x310E
0x00
1– 20
No
0.1– 2.0 s
M3 Accel
RW
0x310F
0x00
1– 20
No
0.1– 2.0 s
M4 Accel
RW
0x3113
0x00
1– 20
No
0.1– 2.0 s
M5 Accel
RW
0x3114
0x00
1– 20
No
0.1– 2.0 s
M1 PWM Demand
RW
0x3118
0x00
0 –32767
Yes
0 –100 %
M2 PWM Demand
RW
0x3119
0x00
0 –32767
Yes
0 –100 %
M3 PWM Demand
RW
0x311A
0x00
0 –32767
Yes
0 –100 %
M4 PWM Demand
RW
0x311B
0x00
0 –32767
Yes
0 –100 %
M5 PWM Demand
RW
0x311C
0x00
0 –32767
Yes
0 –100 %
M1 M2 H Bridge Mode
RW 0x311D
0x00
0 –1
No
0 = H Bridge mode inactive; 1= H Bridge
mode active.
M4 M5 Parallel Mode
RW 0x311E
0x00
0 –1
No
0 = Parallel mode inactive; 1= Parallel
mode active. Note: In Parallel mode, the 1355 uses M4’s parameters. M5’s
parameters are ignored except for the
current limit. The current limit range in
Parallel mode is 20–200A, which is the
total current limit of M4 and M5.
Motor Enable
RW 0x311F
0x00
0 –255
No
bit0 M1 Enable.
bit1 M2 Enable.
bit2 M3 Enable.
bit3 M4 Enable.
bit4 M5 Enable.
bit5 Actuator1 Enable. a
bit6 Actuator2 Enable. a
bit7 Actuator3 Enable. a
When the output is disabled, the 1355
will not check the relative faults except
for some severe faults such as motor
short and current sensor fault.
M1 Duty Cycle
RO
0x3120
0x00
0 –32767
Yes
0 – 100%
M2 Duty Cycle
RO
0x3121
0x00
0 –32767
Yes
0 – 100%
M3 Duty Cycle
RO
0x3122
0x00
0 –32767
Yes
0 – 100%
M4 Duty Cycle
RO
0x3123
0x00
0 –32767
Yes
0 – 100%
M5 Duty Cycle
RO
0x3124
0x00
0 –32767
Yes
0 – 100%
M1 Armature Current
RO
0x3126
0x00
-1500 –1500
Yes
-150.0 –150.0 A
M2 Armature Current
RO
0x3127
0x00
-1500 –1500
Yes
-150.0 –150.0 A
M3 Armature Current
RO
0x3128
0x00
-1500 –1500
Yes
-150.0 –150.0 A
M4 Armature Current
RO
0x3129
0x00
-1500 –1500
Yes
-150.0 –150.0 A
M5 Armature Current
RO
0x312A
0x00
-1500 –1500
Yes
-150.0 –150.0 A
a
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
1355-X001 only
27
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Profile Object Dictionary, cont’d
range
name
access index sub-index
raw
mapping
description
Baud Rate
RW 0x3142
0x00
0 – 2
No
0 = 125 kbps.
1 = 250 kbps.
2 = 500 kbps.
The default setting is 1 (250 kbps).
PDO Timeout
RW 0x3149
0x00
0 –1000
No
Time interval within which the PDO-MOSI
must be received or a fault will be flagged.
The default setting is 100 ms.
Diagnostic1
RO 0x3256
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
Precharge Fault.
Main Contactor Overload.
Main Weld Fault.
Main DNC Fault.
Overvoltage Warning.
Undervoltage Warning.
Overvoltage Cutoff.
Undervoltage Cutoff.
Diagnostic2
RO 0x3257
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
M1 Open.
M2 Open.
M3 Open.
M4 Open.
M5 Open.
Actuator1 Open. a
Actuator2 Open. a
Actuator3 Open. a
Diagnostic3
RO 0x3258
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
M1 Overload Warning.
M2 Overload Warning.
M3 Overload Warning.
M4 Overload Warning.
M5 Overload Warning.
Actuator1 Overload Warning. a
Actuator2 Overload Warning. a
Actuator3 Overload Warning. a
Diagnostic4
RO 0x3259
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
M1 Over Current.
M2 Over Current.
M3 Over Current.
M4 Over Current.
M5 Over Current.
Actuator1 Over Current. a
Actuator2 Over Current. a
Actuator3 Over Current. a
Diagnostic5
RO 0x325A
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
M1 Motor Short.
M2 Motor Short.
M3 Motor Short.
M4 Motor Short.
M5 Motor Short.
Actuator1 Motor Short. a
Actuator2 Motor Short. a
Actuator3 Motor Short. a
a
28
1355-X001 only
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Profile Object Dictionary, cont’d
range
name
access index sub-index
raw
mapping
description
Diagnostic6
RO 0x325B
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
M1 Current Sensor Fault.
M2 Current Sensor Fault.
M3 Current Sensor Fault.
M4 Current Sensor Fault.
M5 Current Sensor Fault.
Over Temperature Cutoff.
Under Temperature Cutoff.
[reserved].
Diagnostic7
RO 0x325C
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
M1 Overload Trip.
M2 Overload Trip.
M3 Overload Trip.
M4 Overload Trip.
M5 Overload Trip.
Actuator1 Stall Fault. a
Actuator2 Stall Fault. a
Actuator3 Stall Fault. a
Diagnostic8
RO 0x325D
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
EEPROM Fault.
PDO Timeout Fault.
CAN Bus Fault.
Actuator Timeout. a
Sequence Fault. b
Over Temperature Cutback.
Under Temperature Cutback.
Main Missing Fault.
Fault History1
RO 0x325E
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
Precharge Fault.
Main Contactor Overload.
Main Weld Fault.
Main DNC Fault.
[reserved].
[reserved].
Overvoltage Cutoff.
Undervoltage Cutoff.
Fault History2
RO
0x325F
0x00
0 –255
Yes
See Diagostic2.
Fault History3
RO
0x3260
0x00
0 –255
Yes
[reserved]
Fault History4
RO
0x3261
0x00
0 –255
Yes
See Diagostic4.
Fault History5
RO
0x3262
0x00
0 –255
Yes
See Diagostic5.
Fault History6
RO
0x3263
0x00
0 –255
Yes
See Diagostic6.
Fault History7
RO
0x3264
0x00
0 –255
Yes
See Diagostic7.
Fault History8
RO
0x3265
0x00
0 –255
Yes
See Diagostic8.
M1 Hourmeter
RO
0x3266
0x00
0 – 65535
Yes
0 – 65535 hr
M2 Hourmeter
RO
0x3267
0x00
0 – 65535
Yes
0 – 65535 hr
M3 Hourmeter
RO
0x3268
0x00
0 – 65535
Yes
0 – 65535 hr
M4 Hourmeter
RO
0x3269
0x00
0 – 65535
Yes
0 – 65535 hr
M5 Hourmeter
RO
0x326A
0x00
0 – 65535
Yes
0 – 65535 hr
a
b
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
1355-X001 only
1355-X101 only
29
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Profile Object Dictionary, cont’d
range
name
access index sub-index
raw
mapping
description
Internal Temperature
RO
0x326E
0x00
-40 –125
Yes
-40 –125 °C.
M1 Regen Current Limit
RW 0x326F
0x00
100 –1000 Yes
100 -700
1355-4X01: 10.0 –100.0 A
1355-5X01: 10.0 –70.0 A
M2 Regen Current Limit
RW 0x3270
0x00
100 –1000 Yes
100 -700
1355-4X01: 10.0 –100.0 A
1355-5X01: 10.0 –70.0 A
M3 Regen Current Limit
RW 0x3271
0x00
100 –1000 Yes
100 -700
1355-4X01: 10.0 –100.0 A
1355-5X01: 10.0 –70.0 A
M4 Regen Current Limit
RW 0x3272
0x00
100 –1000 Yes
100 -700
1355-4X01: 10.0 –100.0 A
1355-5X01: 10.0–70.0 A
M5 Regen Current Limit
RW 0x3273
0x00
100 –1000 Yes
100 -700
1355-4X01: 10.0 –100.0 A
1355-5X01: 10.0 –70.0 A
M1 Open Current
RW
0x3275
0x00
0 –100
Yes
0.0 –10.0 A
M2 Open Current
RW
0x3276
0x00
0 –100
Yes
0.0 –10.0 A
M3 Open Current
RW
0x3277
0x00
0 –100
Yes
0.0 –10.0 A
M4 Open Current
RW
0x3278
0x00
0 –100
Yes
0.0 –10.0 A
M5 Open Current
RW
0x3279
0x00
0 –100
Yes
0.0 –10.0 A
Overload Trip Reset
RW 0x327A
0x00
0 –255
Yes
bit0 1 Clear M1 Overload Trip Fault.
bit1 1 Clear M2 Overload Trip Fault.
bit2 1 Clear M3 Overload Trip Fault.
bit3 1 Clear M4 Overload Trip Fault.
bit4 1 Clear M5 Overload Trip Fault.
bit5–7 [reserved].
Diagnostic9
RO 0x3280
0x00
0 –255
Yes
bit0
bit1
bit2
bit3
bit4
bit5
bit6
bit7
Diagnostic10
RO 0x3281
0x00
0 –255
Yes
bit0 Actuator3 Current Sensor Fault. a
bit1 Thermal Sensor Fault.
bit2 Main Coil Short Fault.
bit3–7 [reserved].
Fault History9
RO
0x3282
0x00
0 –255
Yes
See Diagostic9.
Fault History10
RO
0x3283
0x00
0 –255
Yes
See Diagostic10.
M1 Decel
RW
0x3284
0x00
1–20
No
0.1–2.0 s
M2 Decel
RW
0x3285
0x00
1–20
No
0.1–2.0 s
M3 Decel
RW
0x3286
0x00
1–20
No
0.1–2.0 s
M4 Decel
RW
0x3287
0x00
1–20
No
0.1–2.0 s
M5 Decel
RW
0x3288
0x00
1–20
No
0.1–2.0 s
M1 HW Fault.
M2 HW Fault.
M3 HW Fault.
M4 HW Fault.
M5 HW Fault.
Parameter Change Fault.
Actuator1 Current Sensor Fault. a
Actuator2 Current Sensor Fault. a
a
30
1355-X001 only
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Profile Object Dictionary, cont’d
range
name
access index sub-index
raw
mapping
description
Overvoltage Warning RW 0x3604
0x00
0 –4096
No
Range
2.0 –14.0 V. Sets voltage allowed above
nominal voltage. When the capacitor bank
voltage exceeds (Nominal Voltage +
Overvoltage Warning Range), an overvoltage warning is sent on the CAN bus
and the programmer.
Undervoltage Warning RW 0x3605
0x00
0 –4096
No
Range
2.0 –14.0 V. Sets voltage allowed below
nominal voltage. When the capacitor bank
voltage drops below (Nominal Voltage Overvoltage Warning Range), an undervoltage warning is sent on the CAN bus
and the programmer.
Battery Voltage
0.0 – 80.0 V
RO
0x3800
0x00
0 – 800
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
No
31
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
The objects in Table 5a apply only to the 1355-X001.
Note: There are some actuator objects in the main table above (Table 5)
that also apply only to the 1355-X001.
Table 5a Parameter Profile Object Dictionary: 1355-X001 only
range
name
access
index
sub-index
raw
mapping
description
Actuator1 PWM Demand
RW
0x312C
0x00
-32767– 32767
Yes
-100 –100 %
Actuator2 PWM Demand
RW
0x312D
0x00
-32767– 32767
Yes
-100 –100 %
Actuator3 PWM Demand
RW
0x312E
0x00
-32767– 32767
Yes
-100 –100 %
Actuator1 Accel
RW
0x312F
0x00
1–20
No
0.1–2.0 s
Actuator2 Accel
RW
0x3130
0x00
1–20
No
0.1–2.0 s
Actuator3 Accel
RW
0x3131
0x00
1–20
No
0.1–2.0 s
Actuator1 Decel
RW
0x3132
0x00
1–20
No
0.1–2.0 s
Actuator2 Decel
RW
0x3133
0x00
1–20
No
0.1–2.0 s
Actuator3 Decel
RW
0x3134
0x00
1–20
No
0.1–2.0 s
Actuator1 Stall Current Limit
RW
0x3135
0x00
20 –100
No
2.0 –10.0 A
Actuator2 Stall Current Limit
RW
0x3136
0x00
20 –100
No
2.0 –10.0 A
Actuator3 Stall Current Limit
RW
0x3137
0x00
20 –100
No
2.0 –10.0 A
Actuator1 Stall Debounce
RW
0x3138
0x00
0 –50
No
0.0 –5.0 s
Actuator2 Stall Debounce
RW
0x3139
0x00
0 –50
No
0.0 –5.0 s
Actuator3 Stall Debounce
RW
0x313A
0x00
0 –50
No
0.0 –5.0 s
Actuator1 Duty Cycle
RO
0x3250
0x00
-32767– 32767
Yes
-100 –100 %
Actuator2 Duty Cycle
RO
0x3251
0x00
-32767– 32767
Yes
-100 –100 %
Actuator3 Duty Cycle
RO
0x3252
0x00
-32767– 32767
Yes
-100 –100 %
Actuator1 Armature Current
RO
0x3253
0x00
0 –150
Yes
0.0 –15.0 A
Actuator2 Armature Current
RO
0x3254
0x00
0 –150
Yes
0.0 –15.0 A
Actuator3 Armature Current
RO
0x3255
0x00
0 –150
Yes
0.0 –15.0 A
Actuator1 Hourmeter
RO
0x326B
0x00
0 – 65535
Yes
0 – 65535 hr
Actuator2 Hourmeter
RO
0x326C
0x00
0 – 65535
Yes
0 – 65535 hr
Actuator3 Hourmeter
RO
0x326D
0x00
0 – 65535
Yes
0 – 65535 hr
32
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
The objects in Table 5b apply only to the 1355-X101.
Note: Two items in the main table above (Table 5) also apply only to
the 1355-X101: Diagnostics8 bit4, Sequence Fault, and the corresponding bit
in Fault History8.
Table 5b Parameter Profile Object Dictionary: 1355-X101 only
range
name
access index sub-index
raw
mapping
description
Operation Mode
RW 0x3801
0x00
0 –1
No
0: Independent mode.
1: CAN Slave mode.
M1 Controlled By
RW 0x3802
0x00
0 – 6
No
Defines which digital input will turn the output of this motor on/off.
0: not controlled by digital input.
1– 6: controlled by digital input 1– 6.
M2 Controlled By
RW
0x3803
0x00
0 – 6
No
See above.
M3 Controlled By
RW
0x3804
0x00
0 – 6
No
See above.
M4 Controlled By
RW
0x3805
0x00
0 – 6
No
See above.
M5 Controlled By
RW
0x3806
0x00
0 – 6
No
See above.
M1 Inhibited By
RW 0x3807
0x00
0 – 6
No
Defines which digital input will inhibit
the output of this motor.
0: not controlled by digital input.
1– 6: controlled by digital input 1– 6.
M2 Inhibited By
RW
0x3808
0x00
0 – 6
No
See above.
M3 Inhibited By
RW
0x3809
0x00
0 – 6
No
See above.
M4 Inhibited By
RW
0x380A
0x00
0 – 6
No
See above.
M5 Inhibited By
RW
0x380B
0x00
0 – 6
No
See above.
M1 Output Off Delay
RW 0x380C
0x00
0 –300
No
0.0 – 30.0 s
This motor’s PWM will be shut off after
the set delay time expires following a
stop command.
M2 Output Off Delay
RW
0x380D
0x00
0 –300
No
See above.
M3 Output Off Delay
RW
0x380E
0x00
0 –300
No
See above.
M4 Output Off Delay
RW
0x380F
0x00
0 –300
No
See above.
M5 Output Off Delay
RW
0x3810
0x00
0 –300
No
See above.
Digital Inputs Normally
RW 0x3811
0x00
0 – 0x3F
No
Closed
Setting the relevant bit to 1 inverts
the signal.
bit0 Digital input 1.
bit1 Digital input 2.
bit2 Digital input 3.
bit3 Digital input 4.
bit4 Digital input 5.
bit5 Digital input 6.
bit6–7 [reserved]..
Startup Lockout Type
RW 0x3812
0x00
0 –2
No
0: No startup lockout.
1: KSI-type startup lockout.
2: Interlock-type startup lockout.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
33
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5b Parameter Profile Object Dictionary: 1355-X101 only, cont’d
range
name
access index sub-index
raw
mapping
description
Sequence Delay
RW 0x3813
0x00
0 – 50
No
0.0 – 5.0 s. PWM shutoff delay when
the interlock switch is turned off.
M1 M2 Bridge Direction
RW 0x3814
0x00
1– 6
No
Selects which digital input (1– 6) will
Input
provide the H Bridge direction command.
Digital input On = Forward.
Digital input Off = Reverse.
Note: When the 1355 is operating
in Can Slave mode, this parameter
is ignored.
Interlock Type
RW 0x3815
0x00
0 –1
No
0: Interlock turns on with digital input 6.
1: Interlock turns on with KSI.
Switch Input States
RO 0x3900
0x00
0 – 0x3F
Yes
States of the digital inputs.
1 = On.
0 = Off.
bit0 Digital input 1.
bit1 Digital input 2.
bit2 Digital input 3.
bit3 Digital input 4.
bit4 Digital input 5.
bit5 Digital input 6.
bit6–7 [reserved].
34
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
5 — DIAGNOSTICS & TROUBLESHOOTING
5 DIAGNOSTICS AND TROUBLESHOOTING
When an error occurs in the 1355, a fault message can be monitored through
the Curtis programmer. Meanwhile, an emergency message will be produced on
the CAN bus according to the CANopen standard. This message will be sent
once. When the fault clears, a No Fault emergency message will be transmitted.
The pair of LEDs built into the controller (one red, one yellow) produce flash
codes displaying all the currently set faults in a repeating cycle. The red LED
indicates the digit place and the yellow LED indicates the value. For example,
a code 23 would be displayed as one red flash, followed by two yellow flashes,
followed by two red flashes and finished with three yellow flashes.
red
yellow
(first digit)
(2)
✱
✲ ✲
red
✱✱
yellow
✲ ✲ ✲
(second digit)(3)
The fault codes are listed in the troubleshooting chart (Table 6).
During normal operation, the yellow LED flashes continuously.
On power-up, the integrity of the code stored in memory is automatically
tested. If the software is found to be corrupted, the red Status LED will flash
rapidly.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
35
5 — DIAGNOSTICS & TROUBLESHOOTING
Table 6 TROUBLESHOOTING CHART
CODEFAULT
DESCRIPTION
EFFECT
Fast
Corrupt Code
1355 in corrupted state. 1355 in Fault state.
Red
LED
RECOVERY
Requires repair or new
software download.
11 Precharge Fault
1355 failed to charge the capacitor bank to the KSI voltage.
Main contactor cannot Clear condition & cycle KSI.
be closed and disable
all PWM outputs.
12 Main Contactor Main contactor current is higher than Overload
the Main Contactor Current Limit.
Emergency message sent Clear condition.
on CAN bus and all
output currents reduced
until main contactor
current is below limit.
13 Main Weld Fault Main contactor is welded. All PWM outputs disabled and main
contactor opened.
Clear condition & cycle KSI.
14 Main DNC Fault
Main contactor did not close. All PWM outputs disabled and main
contactor opened.
Clear condition & cycle KSI.
15 Overvoltage
Warning
16 Undervoltage Warning
Capacitor bank voltage exceeded the Warning message sent.
overvoltage warning limit.
Clear condition.
Capacitor bank voltage dropped below Warning message sent.
the undervoltage warning limit.
Clear condition.
17 Overvoltage
Capacitor bank voltage exceeded the Cutoff
overvoltage cutoff limit. All PWM outputs disabled and main
contactor opened.
Clear condition.
18 Undervoltage
Cutoff
Capacitor bank voltage dropped below All PWM outputs the undervoltage cutoff limit.
disabled.
Clear condition.
21 M1 Open
M1 Motor is open.
Clear condition & cycle KSI.
None.
22, 23, 24, 25 These faults are like #21, for the remaining four motors: M2, M3, M4, M5.
26 a Actuator 1 Open Actuator 1 motor is open.
None.
Clear condition & cycle KSI.
27 a, 28 a­ These faults are like #26, for the remaining two actuators: Actuator 2 and Actuator 3.
31 M1 Overload
Warning
With M1 output at 100% PWM, the
load current exceeded the M1 current
limit.
Emergency message sent on CAN bus.
Clear condition.
32, 33, 34, 35 These faults are like #31, for the remaining four motors: M2, M3, M4, M5.
36 a Actuator 1
Overload
Actuator 1’s energy integral is higher
than the threshold.
Emergency message sent on CAN bus.
Clear condition.
37 a, 38 a These faults are like #36, for the remaining two actuators: Actuator 2 and Actuator 3.
41 M1 Over Current M1 current exceeded the max current M1 PWM output of the hardware trip.
disabled and main
contactor opened.
Clear condition & cycle KSI.
42, 43, 44, 45 These faults are like #41, for the remaining four motors: M2, M3, M4, M5.
46 a Actuator 1 Over
Actuator 1 current exceeded the max Current
current of the hardware trip.
Actuator 1 PWM output Clear condition & cycle KSI.
disabled and main
contactor opened.
47 a, 48 a These faults are like #46, for the remaining two actuators: Actuator 2 and Actuator 3.
a
1355-X001 only
36
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
5 — DIAGNOSTICS & TROUBLESHOOTING
Table 6 TROUBLESHOOTING CHART, cont’d
CODEFAULT
DESCRIPTION
51 M1 Motor Short M1 load is shorted. EFFECT
M1 PWM output disabled and main
contactor opened.
RECOVERY
Clear condition & cycle KSI.
52, 53, 54, 55 These faults are like #51, for the remaining four motors: M2, M3, M4, M5.
56 a Actuator 1 Motor Actuator 1 load is shorted.
Short
Actuator1 PWM output Clear condition & cycle KSI.
disabled and main
contactor opened.
57 a, 58 a­ These faults are like #56, for the remaining two actuators: Actuator 2 and Actuator 3.
61 M1 Current M1 current sensor has invalid reading. M1 PWM output Sensor Fault
disabled.
Clear condition & cycle KSI.
62, 63, 64, 65 These faults are like #61, for the remaining four motors: M2, M3, M4, M5.
66 Over Temperature Internal temperature exceeds cutoff
Cutoff
temperature threshold.
All PWM outputs disabled.
Clear condition.
67 Under Temperature Internal temperature below -40°C.
Cutoff
All PWM outputs disabled.
Clear condition.
71 M1 Overload Trip M1 overload timer expired. M1 PWM output disabled.
Clear condition & cycle KSI,
or receive CAN Clear
message.
72, 73, 74, 75 These faults are like #71, for the remaining four motors: M2, M3, M4, M5.
76 a Actuator 1 Stall
Actuator 1 stall timer expired. Fault
Actuator1 PWM output Operate in the opposite
disabled and main direction, or cycle KSI.
contactor opened.
77 a, 78 a These faults are like #76, for the remaining two actuators: Actuator 2 and Actuator 3.
81 EEPROM Fault
EEPROM checksum error.
All PWM outputs disabled.
Modify any programmable
parameter with programmer.
82 PDO Timeout Fault Time between PDO messages exceeded CANopen status in Receive NMT message or
the PDO Timeout setting.
Pre-operation and all cycle KSI.
PWM outputs disabled.
83 CAN Bus Fault
Internal CAN bus error counter register exceeded 128.
Reset CAN bus. Clear condition.
84 a Actuator Timeout
Master did not receive any message from the slave within timeout period.
All PWM outputs disabled.
Clear condition & cycle KSI.
85 b Sequence Fault
KSI, interlock, and startup requests applied in incorrect order.
All PWM outputs disabled.
Clear condition & cycle KSI.
86 Over Temperature
Cutback
Internal temperature exceeds cutback
temperature threshold.
Current limit reduced. Clear condition.
87 Under Temp-
Internal temperature below -25°C.
erature Cutback
Current limit reduced to 50%.
Clear condition.
88 Main Missing Fault
All PWM outputs disabled.
Clear condition & cycle KSI.
All PWM outputs disabled and main
contactor opened.
Clear condition & cycle KSI.
Main contactor coil not connected to main contactor driver.
91 M1 HW Fault
M1 output defective. 92, 93, 94, 95 These faults are like #91, for the remaining four motors: M2, M3, M4, M5.
a
b
1355-X001 only
1355-X101 only
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
37
5 — DIAGNOSTICS & TROUBLESHOOTING
Table 6 TROUBLESHOOTING CHART, cont’d
CODEFAULT
96 Parameter Change
Fault DESCRIPTION
Changing output mode (H Bridge
Mode or Parallel Mode).
For 1355-X101 only:
• Inappropriate function setting of
digital input (i.e., simultaneously
set as Mx Inhibited By and Mx Controlled By), or
• Interlock Type changed, or
• Digital Input 6 used as both an
interlock and inhibited or controlled
input.
97 a Actuator 1 Current Actuator 1 current sensor has invalid
Sensor Fault
reading.
EFFECT
RECOVERY
All PWM outputs disabled and main
contactor opened.
Clear condition & cycle KSI.
Actuator 1 disabled.
Clear condition & cycle KSI.
98 a, 101 a­ These faults are like #97, for the remaining two actuators: Actuator 2 and Actuator 3.
102Temperature
Sensor Fault
Temperature sensor has invalid reading. All outputs disabled. 103Main Coil Short Main contactor coil shorted.
Fault
a
Clear condition & cycle KSI.
All outputs disabled and Clear condition & cycle KSI.
main contactor opened.
1355-X001 only
38
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
APPENDIX A: EMC & ESD DESIGN CONSIDERATIONS
APPENDIX A
VEHICLE DESIGN CONSIDERATIONS
ELECTROMAGNETIC COMPATIBILITY (EMC)
Electromagnetic compatibility (EMC) encompasses two areas: emissions and
immunity. Emissions are radio frequency (RF) energy generated by a product.
This energy has the potential to interfere with communications systems such
as radio, television, cellular phones, dispatching, aircraft, etc. Immunity is the
ability of a product to operate normally in the presence of RF energy. EMC
is ultimately a system design issue. Part of the EMC performance is designed
into or inherent in each component; another part is designed into or inherent
in end product characteristics such as shielding, wiring, and layout; and, finally,
a portion is a function of the interactions between all these parts. The design
techniques presented below can enhance EMC performance in products that
use Curtis control products.
Emissions
Signals with high frequency content can produce significant emissions if connected to a large enough radiating area (created by long wires spaced far apart).
PWM drivers can contribute to RF emissions. Pulse width modulated square
waves with fast rise and fall times are rich in harmonics. (Note: PWM drivers
at 100% do not contribute to emissions.) The impact of these switching waveforms can be minimized by making the wires from the controller to the load as
short as possible and by placing the load drive and return wires near each other.
For applications requiring very low emissions, the solution may involve
enclosing the system, interconnect wires and loads together in one shielded
box. Emissions can also couple to battery supply leads and circuit wires outside the box, so ferrite beads near the controller may also be required on these
unshielded wires in some applications. It is best to keep the noisy signals as far
as possible from sensitive wires.
Immunity
Immunity to radiated electric fields can be improved either by reducing overall
circuit sensitivity or by keeping undesired signals away from this circuitry. The
controller circuitry itself cannot be made less sensitive, since it must accurately
detect and process low level signals from sensors such as the throttle potentiometer. Thus immunity is generally achieved by preventing the external RF
energy from coupling into sensitive circuitry. This RF energy can get into the
controller circuitry via conducted paths and radiated paths. Conducted paths
are created by the wires connected to the controller. These wires act as antennas
and the amount of RF energy coupled into them is generally proportional to
their length. The RF voltages and currents induced in each wire are applied to
the controller pin to which the wire is connected.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
A-1
APPENDIX A: EMC & ESD DESIGN CONSIDERATIONS
The Curtis 1355 includes bypass capacitors on the printed circuit board’s
sensitive input signals to reduce the impact of this RF energy on the internal
circuitry. In some applications, additional filtering in the form of ferrite beads
may also be required on various wires to achieve desired performance levels. A
full metal enclosure can also improve immunity by shielding the 1355 from
outside RF energy.
ELECTROSTATIC DISCHARGE (ESD)
Curtis products, like most modern electronic devices, contain ESD-sensitive
components, and it is therefore necessary to protect them from ESD (electrostatic
discharge) damage. Most of the product’s signal connections have protection
for moderate ESD events, but must be protected from damage if higher levels
exist in a particular application.
ESD immunity is achieved either by providing sufficient distance between conductors and the ESD source so that a discharge will not occur, or by
providing an intentional path for the discharge current such that the circuit
is isolated from the electric and magnetic fields produced by the discharge. In
general the guidelines presented above for increasing radiated immunity will
also provide increased ESD immunity.
It is usually easier to prevent the discharge from occurring than to divert
the current path. A fundamental technique for ESD prevention is to provide
adequately thick insulation between all metal conductors and the outside environment so that the voltage gradient does not exceed the threshold required for
a discharge to occur. If the current diversion approach is used, all exposed metal
components must be grounded. The shielded enclosure, if properly grounded,
can be used to divert the discharge current; it should be noted that the location
of holes and seams can have a significant impact on ESD suppression. If the
enclosure is not grounded, the path of the discharge current becomes more
complex and less predictable, especially if holes and seams are involved. Some
experimentation may be required to optimize the selection and placement of
holes, wires, and grounding paths. Careful attention must be paid to the control
panel design so that it can tolerate a static discharge. MOV, transorbs, or other
devices can be placed between B- and offending wires, plates, and touch points
if ESD shock cannot be otherwise avoided.
A-2
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
APPENDIX B: PROGRAMMING DEVICES
APPENDIX B
PROGRAMMING DEVICES
Curtis programmers provide programming, diagnostic, and test capabilities
for the 1355. The power for operating the programmer is supplied by the host
controller via a 4-pin connector. When the programmer powers up, it gathers
information from the controller.
Two types of programming devices are available: the 1314 PC Programming Station and the 1311/1313 handheld programmer. The Programming
Station has the advantage of a large, easily read screen; on the other hand, the
handheld programmer has the advantage of being more portable and hence
convenient for making adjustments in the field.
Both programmers are available in User, Service, Dealer, and OEM versions. Each programmer can perform the actions available at its own level and
the levels below that—a User-access programmer can operate at only the User
level, whereas an OEM programmer has full access.
PC PROGRAMMING STATION (1314)
The Programming Station is an MS-Windows 32-bit application that runs on
a standard Windows PC. Instructions for using the Programming Station are
included with the software.
HANDHELD PROGRAMMER (1313)
The handheld programmer is functionally equivalent to the PC Programming
Station; operating instructions are provided in the 1313 manual.
PROGRAMMER FUNCTIONS
Programmer functions include:
Parameter adjustment — provides access to the individual programmable pa-
rameters.
Monitoring — presents real-time values during vehicle operation; these include
all inputs and outputs.
Diagnostics and troubleshooting — presents diagnostic information, and also a
means to clear the fault history file.
Programming — allows you to save/restore custom parameter settings.
Favorites — allows you to create shortcuts to your frequently-used adjustable
parameters and monitor variables.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
B-1
APPENDIX C: SPECIFICATIONS
APPENDIX C
SPECIFICATIONS
Table C-1 SPECIFICATIONS: 1355 MODULE
Nominal input voltage
Electrical isolation to heatsink
24 – 36 V, 36 – 48 V
500 Vac (minimum)
Storage ambient temperature range
Operating ambient temp. range
-40°C to 85°C (-40°F to 185°F)
-25°C to 50°C (-40°F to 122°F)
Enclosure protection rating
IP65 per IEC60529
Weight
1.23 kg
Dimensions (L× W×H)165 × 120 × 72 mm
6.0 mm mounting hole ID
EMC
Designed to the requirements
of EN12895:2000.
Safety
Designed to the requirements
of EN 1175-1:1998+A1: 2010
and EN 13849-1:2008 Category 2.
CURRENT RATING OF M1-M5 LOADS
(ALL RUNNING TOGETHER)
MODEL NUMBER
VOLTAGE
DESCRIPTION
1355-4001
24 – 36 V
1355-4101
24 – 36 V
1355-5001
36 – 48 V
1355-5101
36 – 48 V
C-1
10 s
1 hr
CURRENT RATING
OF ACTUATORS
20 s
1 hr
Three full bridge actuators
Six digital inputs
100 A
100 A
40 A @100%PWM; 25 A @PWM%
40 A @100%PWM; 25 A @PWM%
10 A 5 A
n/an/a
Three full bridge actuators
Six digital inputs
70 A
70 A
35 A @100%PWM; 25 A @PWM%
35 A @100%PWM; 25 A @PWM%
10 A 5 A
n/an/a
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement